1210.0747 (Vladimir A. Vladimirov)

Theory of a triangular micro-robot    [PDF]

Vladimir A. Vladimirov

In this paper we study the self-propulsion of a triangular micro-robot (or triangle-robot) which consists of three spheres connected by three rods; the rods' lengths are changing independently and periodically. Using the asymptotic procedure containing the two-timing method and distinguished limit arguments, we obtain analytic expressions for self-propulsion velocity the angular velocity. Our calculations show that a triangle-robot rotates with constant angular velocity around its centroid, while the centroid moves in a circle. The important special case of zero angular velocity represents rectilinear translational self-propulsion with constant velocity.

View original: http://arxiv.org/abs/1210.0747